CN111813138A - Real-time embedded control system of foot type mobile robot - Google Patents
Real-time embedded control system of foot type mobile robot Download PDFInfo
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- CN111813138A CN111813138A CN202010716412.0A CN202010716412A CN111813138A CN 111813138 A CN111813138 A CN 111813138A CN 202010716412 A CN202010716412 A CN 202010716412A CN 111813138 A CN111813138 A CN 111813138A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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Abstract
A real-time embedded control system of a foot type mobile robot comprises a controller, a radio station, a remote controller and inertial navigation, wherein the remote controller is connected with the radio station in a wireless mode, and the radio station and the inertial navigation are both connected with the controller; the controller comprises a real-time processor for communication and signal processing, and an FPGA for directly realizing high-speed control, custom timing and triggering and signal processing in hardware; the remote controller is used for controlling the foot type mobile robot; the radio station is used for wireless communication between the controller and the remote controller, and the radio station is communicated with the controller through RS 485; the inertial navigation is used for outputting signals of three attitude angles of the legged mobile robot and other auxiliary sensors at the frequency of 100 Hz. The control system of the invention realizes the real-time collection of the joint and trunk information of the foot type mobile robot, completes the calculation of the movement given to the robot according to the given of the remote controller, realizes the centralized control of the robot and enhances the stability of the robot.
Description
Technical Field
The invention relates to a real-time embedded control system for controlling a foot type mobile robot, and belongs to the field of foot type mobile robots.
Background
The foot robot has great development potential in the aspect of traversing complex terrains. Compared with a wheeled or tracked robot, the robot with the foot type structure can select foot falling points according to different terrains in a working space, so that the foot type robot has the adaptability to complex terrains and the flexibility of movement. But this also puts higher demands on the robot control system:
(1) good real-time performance
The control system of the legged robot requires an operating system with high real-time performance to accomplish complex control tasks. The foot type robot is provided with a plurality of moving joints, and displacement and force information of the joints needs to be acquired in one control cycle, and movement setting of the robot is completed. Therefore, the robot needs to adopt a real-time operating system to acquire information in real time, seize a CPU, execute a task with high priority and better meet the requirements on a foot type robot control system.
(2) Strong shock resistance
The foot type robot has severe motion vibration, and the control system of the foot type robot can ensure the stability only by carrying out anti-vibration treatment. The control system can stably work in a high-vibration environment, the core controller and the board card need to meet the requirement of high vibration, and the interface needs to be reinforced.
(3) Strong heat radiation capability
A core controller and a card in the foot type robot control system can generate a large amount of heat during operation, heat dissipation work is done, the continuous operation time of the robot can be increased, and the normal operation of the robot control system is prevented from being influenced by overhigh temperature.
(4) Modularization and lightweight
The design of the foot type robot control system needs to be modularized, the size of the unified interface and the definition of the input and output interface can realize the interchange among the similar modules, and the maintainability of the robot control system is improved. In addition, the robot control system is light, the structure of the control system and unnecessary wiring are simplified as much as possible, and the self weight of the robot is reduced.
(5) Low power dissipation design
The legged robot requires a battery to power the control system, and therefore, in order to ensure longer working time, the power consumption of the robot control system should be made lower.
The foot type robot control system is divided into a distributed type and a centralized type. The control of the distributed control system is mainly responsible for motion planning, and the control of the bottom actuators is carried out through corresponding drivers, so that the requirement on the robot control system is greatly reduced. However, for maintenance convenience, most foot robots adopt a centralized control system, that is, motion planning, joint control and information acquisition are performed by one controller, so that high requirements are put forward on the construction of the robot control system.
Disclosure of Invention
In order to meet the control requirement of the current foot type robot, the invention provides a universal foot type robot real-time embedded control system for enhancing the stability of the robot, so that the joint and trunk information of the foot type mobile robot is collected in real time, the given calculation of the motion of the robot is completed according to the given remote controller, and the centralized control of the robot is realized.
In order to achieve the purpose, the technical scheme of the foot type mobile robot real-time embedded control system is as follows:
the control system comprises a controller, a radio station, a remote controller and inertial navigation, wherein the remote controller is connected with the radio station in a wireless mode, and the radio station and the inertial navigation are both connected with the controller;
the controller comprises a real-time processor for communication and signal processing, and an FPGA for directly realizing high-speed control, custom timing and triggering and signal processing in hardware; the FPGA is connected with the processor; the processor is provided with a communication module and an Ethernet port; an analog input module, an analog output module, a digital signal module and a communication module are configured on the FPGA to realize the sampling frequency of 1kHz and output given frequency. The analog signal input module and the analog signal output module on the FPGA are respectively provided with 24 channels, the digital signal module is provided with 16 channels, and the communication channels comprise 2 CAN communication channels and 4 RS232 channels. The processor is provided with 1 RS232 communication channel and 1 RS485 communication channel. The processor runs a Linux Real-time operating system, receives joint data acquired by the FPAG and performs Real-time motion planning.
The controller is arranged in the shell, a module slot is further arranged in the shell, and the module slot unifies the definition of the interface size and the input and output interface so as to realize the replacement of the board cards with the same type and different functions. The interface module is installed on one side surface of the shell in a centralized mode, so that the requirement for stable operation in the operating environment is met. And a damping shock absorber is arranged at the bottom of the shell to attenuate the transmission of external vibration force to the controller.
And the remote controller is used for controlling the foot type mobile robot. Through the internal protocol, the legged robot can be controlled to move in all directions, state feedback and robot attribute configuration can be carried out, and therefore the robot can be debugged conveniently. The controller reserves a serial port communication interface and can be externally connected with other remote controllers to operate the robot.
The radio station is used for wireless communication between the controller and the remote controller and is communicated with the controller through RS 485.
The inertial navigation is used for outputting signals (acceleration, angular velocity, geomagnetic field strength, temperature and altitude) of three attitude angles and other auxiliary sensors of the legged mobile robot at the frequency of 100 Hz. Through the filtering algorithm of the control program in the system, the attitude angle of the inertial navigation system and the attitude angle sensed by the robot body are fused, the robot attitude angle can be output at a higher frequency, and the requirement of trunk control of the foot type robot can be met.
The invention adopts a C + + program developed based on RT-Linux, the programming environment is Eclipse, and the development of an RT-Linux system is realized under a Windows system. After the analog input module, the analog output module, the digital input/output module and the communication module of the FPGA layer are driven and configured, the address of each channel is generated into a C + + interface file which can be directly called in an RT-Linux system. By adopting a core-divided binding mode, joint control, sensor acquisition, motion planning, log recording and environment perception are respectively bound to a CPU core, so that four tasks of the robot in operation are operated in parallel, and the stability of the robot is enhanced.
The control system of the invention realizes the real-time collection of the joint and trunk information of the foot type mobile robot, completes the calculation of the movement given to the robot according to the given of the remote controller, realizes the centralized control of the robot and enhances the stability of the robot.
Drawings
Fig. 1 is a schematic block diagram of the structure of a real-time embedded control system of a legged mobile robot according to the present invention.
Fig. 2 is a schematic structural diagram of a controller according to the present invention.
Fig. 3 is a schematic overall appearance diagram of the controller.
Fig. 4 is a disassembled schematic view of the controller.
FIG. 5 is a diagram of the software design architecture of the present invention.
In the figure: 1. the damping device comprises a cover plate, 2 parts of a controller, 3 parts of an interface module, 4 parts of a damping shock absorber, 5 parts of a module slot and 6 parts of a shell.
Detailed Description
The overall block diagram of the real-time embedded control system of the foot-type mobile robot is shown in fig. 1, and the control system comprises a controller, a radio station, a remote controller and inertial navigation. The control system is provided with an analog input module for acquiring robot joint information, an analog output module for controlling the movement of a robot joint, and an inertial navigation system is carried to acquire robot posture information. In addition, the system realizes serial port and CAN communication by configuring a serial port communication module and a CAN communication module, and CAN be used for expanding equipment on the robot. The system is provided with an Ethernet port and can communicate with an external environment perception computer TCP/IP transmission protocol to realize the autonomous navigation of the foot type robot. The work flow of the whole control system is to send out an instruction through a remote controller, the controller collects sensor signals and plans the movement, and the calculated given of the joint actuator is sent to each joint, so that the movement of the foot type mobile robot is controlled.
The following describes a specific embodiment of the real-time embedded control system of the legged mobile robot from a hardware system design and a software system design.
As shown in fig. 2, the controller has a heterogeneous architecture, including a real-time processor for communication and signal processing, and an FPGA for implementing high-speed control, custom timing and triggering, and signal processing directly in hardware, the FPGA being connected to the processor. The CPU runs a Linux Real-time operating system, can receive joint data acquired by the FPAG and carries out Real-time motion planning. The FPGA executes tasks such as joint signal acquisition, signal output control, communication and the like, and can shunt a time-tight process and improve the sampling frequency of the bottom layer sensor.
The processor runs a Linux Real-time operating system, receives joint data acquired by the FPAG and performs Real-time motion planning. The processor is provided with a communication module and an Ethernet port, and the communication channel is provided with 1 RS232 communication channel and 1 RS485 communication channel. An analog input module, an analog output module, a digital signal module and a communication module are configured on the FPGA to realize the sampling frequency of 1kHz and output given frequency, the analog signal input module and the analog signal output module are respectively provided with 24 channels, the digital signal module is provided with 16 channels, and the communication channel is provided with 2 CAN communication channels and 4 RS232 channels.
The control system of the invention has 24 analog input channels, 24 analog signal output channels, 16 digital signal channels, 2 CAN communication channels, 5 RS232 communication channels and 1 485 communication channel, thus meeting the control requirements of most foot robots. The control system configures analog input, analog output and digital signal channels on the FPGA, so that the sampling frequency and the output given frequency of 1k Hz can be realized, and the requirements of the foot-type mobile robot on the joint signal sampling frequency and the output given frequency in motion planning and control can be met.
The controller of the invention is shown in fig. 3 and 4, the controller 2 and the module slot 5 are arranged in the shell 6, the module slot 5 unifies the definition of the interface size and the input and output interface, and the card transaction with the same type and different functions can be replaced. The shell 6 is designed to be reinforced, and is made of high-strength aluminum alloy, so that the shell has the characteristics of small volume, light weight, safety and reliability. The shell 6 adopts passive heat dissipation, and the interface module 3 externally connected with the aerial plug is intensively arranged on one side surface of the shell 6, so that the requirement of stable operation in the operation environment is met. The shell 6 is made of an aluminum alloy material with strong vibration absorption performance and is integrally processed, and overall vibration resistance is guaranteed on the premise of guaranteeing attractive appearance. Four damping shock absorbers 4 are mounted at the bottom of the shell 6, so that the transmission of external vibration force to the controller is greatly attenuated, and each connector adopts an aviation connector and is tightly and reliably inserted. The cable connection adopts a connector with a lock catch or dispensing reinforcement treatment. And (4) dispensing and reinforcing the devices with larger volume on the driving plate.
The control system of the invention carries a radio station to realize the communication with the remote controller and realize the control of the foot type robot. Through the internal protocol, the legged robot can be controlled to move in all directions, state feedback and robot attribute configuration can be carried out, and therefore the robot can be debugged conveniently. The system also reserves a serial port to realize the control of the robot by an external remote controller.
The control system of the invention is provided with an inertial navigation system, and can output three attitude angles of the robot and other auxiliary sensing signals (acceleration, angular velocity, geomagnetic field intensity, temperature and altitude) at the frequency of 100 Hz. Through the filtering algorithm of the control program in the system, the attitude angle of the inertial navigation system and the attitude angle sensed by the robot body are fused, the robot attitude angle can be output at a higher frequency, and the requirement of trunk control of the foot type robot can be met.
The control system of the present invention reserves an ethernet port to provide a context-aware interface. The environment perception processes and calculates the speed or the foot-falling point position of the foot-type mobile robot through environment information collected by a radar or a binocular camera, and transmits a control instruction through communication with a controller through a TCP/IP transmission protocol. In addition, 4 paths of serial communication channels and CAN communication channels are reserved in the control system so as to expand equipment for the foot-type mobile robot at a later stage.
The running program of the control system adopts a C + + program developed based on RT-Linux, the programming environment is Eclipse, and the development of an RT-Linux system is realized under a Windows system. After the analog input, the analog output, the digital input and output of the FPGA layer and the communication module are configured, the address of each channel is generated into a C + + interface file which can be directly called in an RT-Linux system. As shown in fig. 5, a core-divided binding mode is adopted, and joint control, sensor acquisition, motion planning, log recording and environment sensing are respectively bound to a CPU core, so that 4 parts of key tasks of the robot can run in parallel, and the stability of the robot is enhanced. In the aspect of remote debugging of the controller, the network IP of the controller and the IP of the debugging PC are configured into a network segment, the network port of the router is connected with the network port of the controller, the debugging PC is connected to the router, and then the SSH node is configured, so that the remote debugging of the controller can be realized. In order to meet the stability of program starting, the starting self-starting design is carried out on the main program of the robot. The starting self-starting means that the RT executable file is used as a starting file to run, and is deployed to a remote target of the industrial personal computer, so that the power-on self-starting function of the design program is realized. However, the Eclipse integrated development environment used does not provide such functionality. Therefore, the invention writes a 'boot script' which is installed in the RT Linux operating system of the controller so as to execute the application program during the boot process of the Linux operating system.
Claims (7)
1. A real-time embedded control system of a foot type mobile robot is characterized by comprising a controller, a radio station, a remote controller and inertial navigation, wherein the remote controller is connected with the radio station in a wireless mode, and the radio station and the inertial navigation are both connected with the controller;
the controller comprises a real-time processor for communication and signal processing, and an FPGA for directly realizing high-speed control, custom timing and triggering and signal processing in hardware; the FPGA is connected with the processor; the processor is provided with a communication module and an Ethernet port; an analog input module, an analog output module, a digital signal module and a communication module are configured on the FPGA to realize the sampling frequency of 1kHz and output given frequency;
the remote controller is used for controlling the foot type mobile robot, and controlling the foot type robot to realize all-directional movement, and perform state feedback and configuration of robot attributes through a set internal protocol;
the radio station is used for wireless communication between the controller and the remote controller and is communicated with the controller through RS 485;
and the inertial navigation is used for outputting signals of three attitude angles of the legged mobile robot and other auxiliary sensors at the frequency of 100 Hz.
2. The real-time embedded control system of the legged mobile robot as claimed in claim 1, wherein the analog signal input module and the analog signal output module of the FPGA have 24 channels, the digital signal module has 16 channels, and the communication channels have 2 CAN communication channels and 4 RS232 communication channels.
3. The real-time embedded control system of the foot-type mobile robot according to claim 1, wherein the processor is provided with 1 RS232 communication channel and 1 RS485 communication channel.
4. The Real-time embedded control system of the legged mobile robot as claimed in claim 1, wherein the processor runs a Linux Real-time operating system, receives joint data collected by the FPAG, and performs Real-time motion planning.
5. The real-time embedded control system of the legged mobile robot according to claim 1, wherein the controller is disposed in a housing, the housing further includes a module slot, and the interface module is centrally mounted on one side of the housing.
6. The real-time embedded control system of the legged mobile robot according to claim 5, wherein said module slots unify the definition of interface size and input output interface.
7. The real-time embedded control system of the legged mobile robot according to claim 5, wherein a damping shock absorber is installed at the bottom of the housing.
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| CN113960951A (en) * | 2020-12-14 | 2022-01-21 | 四川轻化工大学 | Novel dinosaur model control system |
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